SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 91 * Raw log
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• Previous call tries 1 • 43.78 of 350.00 AH used of 24V (87.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.0 deg, depth 0.94 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 36 s
• GPS2 time: 17 s • Transponder ping count: 7
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
30 end surface: CONTROL_FINISHED_OK
30 begin dive
34 - - - 132 VBD -0.68 - - 209 - - - 2275 - -116.8 -72.20 - 2460 - - - - - - - - 14.66 - 14.69
136 2.2 -2.0 3 189 roll -0.68 8.85 0.431 1958 197.6 2.72 2.128 3695 522.1 -116.8 -12.30 - 3220 -61.8 - - - - - - - 14.28 13.54 14.48
307 59.2 -24.0 26 337 done -0.45 0.38 0.299 2048 236.8 2.40 0.047 2268 -594.6 -116.8 - - 3220 - - - - - - - - 14.41 14.59 14.62
625 97.6 -8.8 38 654 roll -0.36 0.12 0.285 2084 300.0 2.38 0.055 868 -588.2 -116.8 - - 3222 - - - - - - - - 14.53 14.67 14.66
762 107.7 -7.0 54 791 done -0.36 - - 2081 - 2.45 0.070 2284 578.0 -116.8 - - 3224 - - - - - - - - 14.76 14.67 14.77
1120 128.8 -6.0 67 1149 done -0.36 - - 2081 - - - 2284 - -116.8 - - 3224 - - - - - - - - 14.85 14.88 14.88
1456 147.4 -5.6 73 1485 done -0.36 - - 2081 - - - 2284 - -116.8 - - 3224 - - - - - - - - 14.89 14.92 14.90
1792 165.7 -5.5 79 1821 roll -0.36 - - 2081 - 2.40 0.057 879 -585.4 -116.8 - - 3222 - - - - - - - - 14.90 14.78 14.92
1842 168.7 -6.0 83 1871 done -0.36 - - 2081 - 2.42 0.070 2275 576.9 -116.8 - - 3222 - - - - - - - - 14.83 14.75 14.85
2228 193.0 -6.4 93 2257 roll -0.36 - - 2076 - 2.47 0.093 3695 574.9 -116.8 - - 3219 - - - - - - - - 14.91 14.75 14.92
2291 197.2 -6.9 99 2320 done -0.41 - - 2077 - 2.38 0.051 2257 -604.2 -116.8 - - 3219 - - - - - - - - 14.83 14.77 14.84
2663 221.5 -6.5 107 2692 roll -0.41 - - 2077 - 2.33 0.063 889 -587.1 -116.8 - - 3216 - - - - - - - - 14.91 14.78 14.93
2775 229.0 -6.7 120 2804 done -0.41 - - 2074 - 2.42 0.073 2276 573.1 -116.8 - - 3215 - - - - - - - - 14.84 14.75 14.86
3155 252.3 -6.3 129 3184 roll -0.41 - - 2069 - 2.47 0.097 3688 571.7 -116.8 - - 3210 - - - - - - - - 14.90 14.75 14.94
3211 256.1 -7.0 134 3240 done -0.46 - - 2069 - 2.35 0.054 2272 -602.6 -116.8 - - 3212 - - - - - - - - 14.85 14.80 14.87
3591 281.2 -6.7 143 3620 roll -0.46 - - 2069 - 2.38 0.066 883 -583.6 -116.8 - - 3209 - - - - - - - - 14.92 14.77 14.93
3696 288.7 -7.0 155 3725 done -0.46 - - 2069 - 2.45 0.076 2276 568.6 -116.8 - - 3208 - - - - - - - - 14.83 14.73 14.85
4083 315.3 -7.0 165 4112 roll -0.46 - - 2063 - 2.50 0.099 3697 568.4 -116.8 - - 3206 - - - - - - - - 14.94 14.74 14.94
4132 318.9 -7.0 169 4161 done -0.46 - - 2063 - 2.38 0.058 2281 -595.0 -116.8 - - 3206 - - - - - - - - 14.85 14.78 14.87
4518 343.7 -6.2 179 4547 roll -0.46 - - 2063 - 2.40 0.066 878 -584.6 -116.8 - - 3203 - - - - - - - - 14.92 14.78 14.95
4645 351.7 -6.4 194 4674 done -0.46 - - 2061 - 2.45 0.080 2268 567.3 -116.8 - - 3202 - - - - - - - - 14.85 14.75 14.88
4988 372.7 -6.2 201 5018 roll -0.46 - - 2056 - 2.53 0.099 3698 565.2 -116.8 - - 3200 - - - - - - - - 14.95 14.75 14.95
5052 377.0 -7.0 207 5081 done -0.46 - - 2056 - 2.40 0.057 2262 -598.3 -116.8 - - 3200 - - - - - - - - 14.87 14.81 14.89
5424 401.8 -6.7 215 5453 roll -0.46 - - 2056 - 2.35 0.065 884 -586.4 -116.8 - - 3199 - - - - - - - - 14.94 14.78 14.96
5516 408.3 -7.2 225 5545 done -0.46 - - 2056 - 2.47 0.080 2276 563.6 -116.8 - - 3198 - - - - - - - - 14.83 14.73 14.85
5860 431.0 -6.6 236 5889 roll -0.46 - - 2048 - 2.50 0.102 3689 565.2 -116.8 - - 3196 - - - - - - - - 14.93 14.76 14.95
5924 435.7 -7.4 242 5953 done -0.46 - - 2048 - 2.40 0.057 2258 -596.2 -116.8 - - 3196 - - - - - - - - 14.86 14.80 14.88
6296 463.3 -7.5 250 6325 roll -0.46 - - 2048 - 2.35 0.066 887 -583.4 -116.8 - - 3194 - - - - - - - - 14.93 14.76 14.96
6446 474.7 -7.5 268 6475 done -0.46 - - 2043 - 2.45 0.080 2267 563.3 -116.8 - - 3192 - - - - - - - - 14.84 14.73 14.86
6791 498.9 -6.9 279 6820 roll -0.46 - - 2038 - 2.53 0.103 3694 564.0 -116.8 - - 3195 - - - - - - - - 14.92 14.73 14.95
6847 502.8 -7.0 284 6876 done -0.46 - - 2038 - 2.40 0.057 2263 -596.2 -116.8 - - 3192 - - - - - - - - 14.85 14.79 14.88
7226 526.2 -6.1 293 7255 roll -0.46 - - 2038 - 2.38 0.067 883 -579.8 -116.8 - - 3191 - - - - - - - - 14.93 14.76 14.95
7353 534.4 -6.5 308 7382 done -0.46 - - 2038 - 2.47 0.083 2267 560.3 -116.8 - - 3190 - - - - - - - - 14.84 14.73 14.86
7697 557.0 -6.7 315 7725 roll -0.46 - - 2028 - 2.55 0.102 3702 562.7 -116.8 - - 3189 - - - - - - - - 14.92 14.72 14.95
7760 561.6 -7.4 321 7789 done -0.46 - - 2028 - 2.42 0.057 2255 -597.9 -116.8 - - 3189 - - - - - - - - 14.85 14.79 14.87
8132 589.5 -7.6 329 8161 roll -0.46 - - 2028 - 2.38 0.070 880 -577.7 -116.8 - - 3187 - - - - - - - - 14.92 14.74 14.95
8188 594.1 -8.6 334 8217 done -0.46 - - 2026 - 2.47 0.083 2266 561.1 -116.8 - - 3187 - - - - - - - - 14.83 14.72 14.85
8568 622.0 -7.3 343 8596 roll -0.46 - - 2017 - 2.55 0.103 3695 560.4 -116.8 - - 3187 - - - - - - - - 14.92 14.71 14.94
8617 625.7 -7.3 347 8646 done -0.46 0.12 0.256 2046 241.7 2.42 0.062 2263 -591.7 -116.8 - - 3186 - - - - - - - - 14.59 14.76 14.78
9003 647.6 -5.4 357 9032 roll -0.46 - - 2046 - 2.40 0.069 879 -576.7 -116.8 - - 3185 - - - - - - - - 14.92 14.73 14.93
9088 652.4 -5.8 366 9116 done -0.46 - - 2042 - 2.50 0.085 2264 554.0 -116.8 - - 3185 - - - - - - - - 14.81 14.70 14.84
9440 673.2 -6.2 378 9468 done -0.46 - - 2042 - - - 2264 - -116.8 - - 3184 - - - - - - - - 14.90 14.93 14.92
9775 695.3 -6.6 384 9804 done -0.46 - - 2043 - - - 2263 - -116.8 - - 3183 - - - - - - - - 14.91 14.93 14.93
10111 717.0 -6.5 390 10140 done -0.46 - - 2043 - - - 2264 - -116.8 - - 3182 - - - - - - - - 14.91 14.93 14.93
10448 738.5 -6.4 396 10476 done -0.46 - - 2043 - - - 2264 - -116.8 - - 3181 - - - - - - - - 14.91 14.94 14.93
10783 760.1 -6.4 402 10812 done -0.46 - - 2042 - - - 2264 - -116.8 - - 3180 - - - - - - - - 14.91 14.93 14.95
11120 781.5 -6.4 408 11148 roll -0.46 - - 2037 - 2.58 0.109 3694 554.3 -116.8 - - 3179 - - - - - - - - 14.90 14.68 14.92
11176 785.4 -5.5 413 11205 done -0.46 - - 2037 - 2.45 0.063 2253 -588.2 -116.8 - - 3181 - - - - - - - - 14.83 14.75 14.85
11555 809.5 -6.3 422 11584 roll -0.46 - - 2037 - 2.40 0.073 884 -570.4 -116.8 - - 3178 - - - - - - - - 14.90 14.71 14.92
11684 817.6 -6.5 437 11715 done -0.46 - - 2036 - 2.50 0.087 2260 550.4 -116.8 - - 3177 - - - - - - - - 14.79 14.67 14.81
12025 838.1 -5.9 444 12054 done -0.46 - - 2036 - - - 2260 - -116.8 - - 3177 - - - - - - - - 14.88 14.90 14.90
12362 858.4 -6.0 450 12391 roll -0.46 - - 2033 - 2.60 0.112 3691 550.4 -116.8 - - 3176 - - - - - - - - 14.88 14.65 14.90
12432 863.6 -8.1 457 12463 done -0.46 - - 2033 - 2.47 0.064 2245 -585.4 -116.8 - - 3175 - - - - - - - - 14.80 14.72 14.82
12776 884.4 -6.1 464 12805 roll -0.46 - - 2033 - 2.40 0.076 888 -565.4 -116.8 - - 3175 - - - - - - - - 14.88 14.67 14.90
12896 892.4 -6.9 478 12924 done -0.46 - - 2029 - 2.50 0.088 2258 548.0 -116.8 - - 3175 - - - - - - - - 14.77 14.65 14.80
13268 915.5 -6.3 486 13297 roll -0.46 - - 2025 - 2.62 0.112 3701 550.8 -116.8 - - 3178 - - - - - - - - 14.87 14.63 14.88
13398 923.7 -6.3 501 13428 done -0.46 - - 2025 - 2.47 0.069 2260 -583.4 -116.8 - - 3174 - - - - - - - - 14.78 14.71 14.81
13738 944.8 -6.2 508 13767 roll -0.46 - - 2025 - 2.42 0.078 890 -566.1 -116.8 - - 3174 - - - - - - - - 14.86 14.66 14.88
13830 950.8 -6.6 518 13859 done -0.46 - - 2026 - 2.50 0.091 2262 548.8 -116.8 - - 3174 - - - - - - - - 14.76 14.64 14.76
14175 972.3 -6.3 529 14203 roll -0.46 - - 2018 - 2.60 0.112 3691 549.6 -116.8 - - 3173 - - - - - - - - 14.85 14.62 14.85
14253 977.6 -3.7 537 14283 done -0.46 0.12 0.256 2047 241.7 2.47 0.068 2261 -578.9 -116.8 - - 3173 - - - - - - - - 14.49 14.68 14.70
14440 end dive: HALF_MISSION_TIME_EXCEEDED
14440 begin apogee
14448 988.2 -5.3 547 14639 roll -0.19 0.32 0.219 2138 284.4 - - 2261 - - 160.80 2.064 2740 -2.7 0.244 - - - - 1 - 14.50 13.90 12.98
14641 end apogee: CONTROL_FINISHED_OK
14641 begin climb
14645 993.0 - 550 14835 roll 0.68 0.93 0.170 2408 290.3 2.70 0.118 3641 511.1 116.8 155.07 2.003 2257 -3.1 0.292 - - - - - - 14.01 14.04 13.18
14906 970.4 11.7 590 14935 done 0.60 - - 2418 - 2.60 0.083 2251 -534.6 116.8 - - 2236 - - - - - - - - 14.20 14.12 14.22
15264 929.5 11.3 603 15293 roll 0.53 0.15 0.289 2380 -253.3 2.65 0.117 3646 526.4 116.8 - - 2230 - - - - - - - - 14.31 14.40 14.45
15407 915.1 9.8 620 15436 done 0.53 - - 2390 - 2.58 0.085 2224 -551.2 116.8 - - 2229 - - - - - - - - 14.57 14.48 14.61
15758 881.6 9.6 632 15787 roll 0.53 - - 2400 - 2.58 0.100 819 -544.6 116.8 - - 2230 - - - - - - - - 14.75 14.54 14.77
15837 874.5 10.0 640 15865 done 0.53 - - 2400 - 2.58 0.092 2224 544.6 116.8 - - 2226 - - - - - - - - 14.67 14.56 14.70
16198 839.3 9.9 653 16227 roll 0.48 0.15 0.288 2360 -266.7 2.60 0.116 3644 546.2 116.8 - - 2226 - - - - - - - - 14.47 14.59 14.62
16289 830.8 7.2 663 16318 done 0.49 - - 2369 - 2.53 0.083 2224 -561.3 120.7 - - 2226 - - - - - - - - 14.72 14.62 14.74
16634 802.3 8.2 674 16662 roll 0.49 - - 2380 - 2.55 0.100 823 -549.4 120.7 - - 2228 - - - - - - - - 14.82 14.61 14.84
16732 794.1 8.2 685 16761 done 0.49 - - 2380 - 2.60 0.092 2246 547.3 120.7 - - 2223 - - - - - - - - 14.73 14.62 14.76
17069 764.1 9.1 695 17098 roll 0.49 - - 2379 - 2.58 0.117 3647 543.0 120.7 - - 2223 - - - - - - - - 14.83 14.62 14.85
17139 757.2 10.3 702 17169 done 0.49 0.12 0.279 2362 -141.7 2.50 0.083 2237 -564.0 120.7 - - 2223 - - - - - - - - 14.51 14.64 14.73
17484 727.3 8.6 709 17513 roll 0.49 - - 2372 - 2.55 0.095 822 -554.9 120.7 - - 2223 - - - - - - - - 14.84 14.64 14.85
17589 718.2 8.4 721 17618 done 0.49 - - 2373 - 2.55 0.087 2231 552.5 120.7 - - 2222 - - - - - - - - 14.74 14.63 14.77
17975 683.6 9.1 731 18004 roll 0.49 - - 2372 - 2.60 0.118 3644 543.5 120.7 - - 2222 - - - - - - - - 14.82 14.60 14.86
18054 675.9 10.1 739 18083 done 0.49 - - 2382 - 2.53 0.082 2226 -560.5 120.7 - - 2222 - - - - - - - - 14.76 14.66 14.78
18412 642.4 9.3 752 18441 roll 0.49 - - 2392 - 2.55 0.098 822 -550.6 120.7 - - 2222 - - - - - - - - 14.85 14.64 14.87
18503 634.3 8.6 762 18532 done 0.49 0.15 0.264 2358 -226.7 2.55 0.089 2227 551.0 120.7 - - 2221 - - - - - - - - 14.51 14.63 14.73
18848 607.3 7.8 773 18877 roll 0.49 - - 2358 - 2.60 0.116 3642 544.2 120.7 - - 2222 - - - - - - - - 14.85 14.59 14.87
18939 599.5 8.5 783 18968 done 0.49 - - 2367 - 2.53 0.080 2221 -561.7 120.7 - - 2221 - - - - - - - - 14.76 14.66 14.78
19283 572.2 8.0 794 19312 roll 0.49 - - 2377 - 2.53 0.094 822 -553.0 120.7 - - 2225 - - - - - - - - 14.85 14.63 14.87
19340 567.7 7.4 799 19368 done 0.49 - - 2376 - 2.55 0.088 2229 551.8 120.7 - - 2221 - - - - - - - - 14.75 14.63 14.78
19719 538.6 7.6 808 19748 roll 0.49 - - 2376 - 2.58 0.116 3640 546.9 120.7 - - 2221 - - - - - - - - 14.85 14.62 14.89
19831 529.0 8.5 821 19860 done 0.49 - - 2385 - 2.50 0.078 2220 -568.0 120.7 - - 2221 - - - - - - - - 14.76 14.66 14.78
20211 500.0 7.5 830 20240 roll 0.49 - - 2395 - 2.55 0.093 818 -549.8 120.7 - - 2221 - - - - - - - - 14.85 14.63 14.87
20289 494.4 7.2 838 20318 done 0.49 0.15 0.261 2360 -233.3 2.55 0.086 2221 550.2 124.6 - - 2220 - - - - - - - - 14.50 14.63 14.73
20651 472.5 6.0 851 20720 roll 0.51 - - 2360 - 2.62 0.111 3640 541.6 155.5 41.05 1.541 2097 -3.0 0.174 - - - - - - 14.83 14.35 13.89
20789 462.7 7.5 870 20818 done 0.51 - - 2369 - 2.53 0.076 2230 -557.3 155.5 - - 2083 - - - - - - - - 14.56 14.47 14.58
21127 438.3 7.4 880 21156 roll 0.51 - - 2378 - 2.58 0.093 819 -546.9 155.5 - - 2079 - - - - - - - - 14.74 14.54 14.76
21197 432.8 7.6 887 21227 done 0.55 - - 2378 - 2.58 0.084 2237 549.6 155.5 - - 2078 - - - - - - - - 14.66 14.55 14.69
21541 403.2 8.8 894 21570 roll 0.55 - - 2378 - 2.60 0.113 3646 541.9 155.5 - - 2078 - - - - - - - - 14.79 14.58 14.81
21633 394.2 9.9 904 21661 done 0.55 - - 2388 - 2.50 0.079 2237 -563.6 155.5 - - 2078 - - - - - - - - 14.71 14.62 14.73
21977 361.8 9.4 915 22006 roll 0.55 - - 2398 - 2.58 0.089 812 -552.3 155.5 - - 2078 - - - - - - - - 14.80 14.62 14.82
22068 353.4 8.8 925 22097 done 0.55 - - 2398 - 2.58 0.085 2238 552.7 155.5 - - 2078 - - - - - - - - 14.71 14.60 14.72
22413 320.9 9.6 936 22442 roll 0.55 - - 2398 - 2.58 0.112 3645 545.3 155.5 - - 2077 - - - - - - - - 14.83 14.62 14.85
22491 313.1 10.1 944 22520 done 0.55 - - 2408 - 2.53 0.076 2228 -560.1 155.5 - - 2077 - - - - - - - - 14.74 14.64 14.77
22849 278.3 9.8 957 22878 roll 0.55 0.12 0.279 2385 -191.7 2.53 0.089 821 -556.1 155.5 - - 2077 - - - - - - - - 14.53 14.64 14.66
22913 272.8 7.7 963 22942 done 0.61 - - 2385 - 2.55 0.083 2239 556.1 155.5 - - 2077 - - - - - - - - 14.74 14.64 14.78
23285 242.8 8.0 971 23314 roll 0.61 - - 2385 - 2.55 0.112 3638 548.6 155.5 - - 2077 - - - - - - - - 14.83 14.63 14.85
23363 236.1 8.8 979 23392 done 0.61 - - 2395 - 2.47 0.073 2234 -568.4 155.5 - - 2077 - - - - - - - - 14.74 14.65 14.77
23721 204.8 8.9 992 23750 roll 0.61 - - 2404 - 2.55 0.088 817 -555.7 155.5 - - 2077 - - - - - - - - 14.82 14.64 14.83
23791 198.5 8.8 999 23821 done 0.61 - - 2404 - 2.55 0.084 2234 555.7 155.5 - - 2077 - - - - - - - - 14.73 14.62 14.77
24136 166.5 9.4 1006 24165 roll 0.61 - - 2404 - 2.58 0.112 3641 545.3 155.5 - - 2077 - - - - - - - - 14.81 14.62 14.84
24241 155.8 9.6 1018 24270 done 0.61 - - 2413 - 2.45 0.072 2242 -571.0 155.5 - - 2077 - - - - - - - - 14.74 14.65 14.77
24628 120.7 9.1 1028 24657 roll 0.61 - - 2424 - 2.55 0.086 820 -557.6 155.5 - - 2077 - - - - - - - - 14.82 14.62 14.84
24719 112.6 8.6 1038 24748 done 0.61 - - 2424 - 2.58 0.080 2247 553.1 155.5 - - 2077 - - - - - - - - 14.73 14.63 14.76
25066 86.7 6.3 1052 25110 roll 0.62 - - 2424 - 2.58 0.107 3636 538.4 180.0 11.40 0.346 2011 -5.8 0.274 - - - - - - 14.81 14.59 14.38
25198 77.6 6.8 1068 25236 done 0.63 0.12 0.268 2404 -166.7 2.45 0.069 2243 -568.6 191.9 9.52 0.325 1957 -5.7 0.256 - - - - - - 14.47 14.64 14.40
25552 61.9 3.8 1083 25630 done 0.80 0.15 0.117 2479 500.0 - - 2234 - 276.8 52.65 0.317 1609 -6.6 0.244 - - - - - - 14.67 14.60 14.34
25917 45.4 4.0 1102 25997 roll 0.98 0.10 0.156 2543 640.0 2.58 0.075 818 -548.8 355.0 47.83 0.265 1292 -6.6 0.215 - - - - - - 14.62 14.54 14.40
26101 34.4 6.3 1127 26146 done 1.07 - - 2543 - 2.55 0.073 2263 566.7 379.3 16.65 0.223 1192 -6.0 0.175 - - - - - - 14.60 14.54 14.40
26479 9.4 6.0 1145 26524 done 1.17 - - 2543 - - - 2263 - 411.8 20.77 0.151 1060 -6.4 0.075 - - - - - - 14.75 14.68 14.53
26584 end climb: SURFACE_DEPTH_REACHED
26584 begin surface coast
26612 end surface coast: CONTROL_FINISHED_OK
26612 begin surface
SM 0.96 - - - - -6.14 6.62 0.073 208 31.4 - - 2263 - 500.17 53.40 0.136 699 13.1 -0.009 - - - - - -